CN218453762U

CN218453762U - Grabbing device based on 3D machine vision

Info

Publication number: CN218453762U
Application number: CN202222421533.XU
Authority: CN
Inventors: 陈凯旋; 徐迈
Original assignee: Mingruida Suzhou Artificial Intelligence Technology Co ltd
Current assignee: Mingruida Suzhou Artificial Intelligence Technology Co ltd
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-02-07
Anticipated expiration: 2032-09-13

Abstract

The utility model discloses a grabbing device based on 3D machine vision, the on-line screen storage device comprises a base, the inside of base is provided with the conveyer belt through the pivot, through two sets of electronic hydraulic stem piston rods in the fixed establishment flexible, drive the L type grip block that it connects respectively and be close to each other, make two sets of L type grip block one side adhesive rubber pad laminating grabbing device body, clamp tightly fixed to the both sides of grabbing device body, the diaphragm of L type grip block supports the side bottom machine of grabbing device body, make the grabbing device body can be installed between two sets of L type grip blocks steadily, it is unstable to avoid grabbing device body when grabbing the material piece; through the rotation of the hand wheel in the fixing mechanism, the threaded rod drives the concave fixing frame to ascend and descend in the mounting frame under the matching of the two groups of limiting rods and the rotating bearing, so that the grabbing height of the grabbing device body for clamping and fixing the inside of the concave fixing frame is adjusted, and the grabbing of materials with different heights is facilitated.

Description

Grabbing device based on 3D machine vision

Technical Field

The utility model relates to an automatic grabbing device technical field specifically is a grabbing device based on 3D machine vision.

Background

The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves working efficiency and quality, serves human life, expands or extends the activity and capability range of the human beings, and is a robot.

Through retrieval, in the prior art, the publication number: CN216444541U discloses a unordered guide grabbing device of 3D vision, and the device rotates through two-way lead screw and makes two sliders be close to each other, and then two risers drive two splint and are close to each other, and then two splint can press from both sides the clamp to the grabbing device body and fix, and easy operation need not to use a plurality of bolts to fix, and convenient to detach maintains, increases its practicality.

The device has the grabbing device body and rocks the unstability easily when using, and the grabbing device body is when frequently snatching the material, and sliding connection's splint can lead to the fact to rocking to the grabbing device body on two slider bottom risers, and the influence grabbing device body snatchs the material, and the device need be simultaneously with screw hole separation on two sets of first bolts in the adjustment mechanism and the splint, to getting the height of snatching of device body and adjusting, there is the structure complicacy, the regulation is loaded down with trivial details slow, therefore we need propose a grabbing device based on 3D machine vision.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a grabbing device based on 3D machine vision, it is flexible through two sets of electronic hydraulic stem piston rods in the fixed establishment, it is close to each other to drive the L type grip block that it connects respectively, it is fixed to press from both sides the clamp of grabbing device body, make installing between two sets of L type grip blocks that grabbing device body can be stable, through hand wheel rotation among the fixed establishment, the threaded rod is under two sets of gag lever posts and rolling bearing's cooperation, it goes up and down in the mounting bracket to drive concave type mount, and then highly adjust the snatching of the fixed grabbing device body of the inside centre gripping of concave type mount, with the problem of proposing in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a gripping device based on 3D machine vision comprises a base, wherein a conveying belt is arranged inside the base through a rotating shaft and is rotatably connected with the base, a mounting frame is fixedly mounted at the upper end of the base, a robot body is arranged at the inner top of the mounting frame and comprises a visual camera and a gripping device body, the visual camera is fixedly mounted at the inner top of the mounting frame, and the gripping device body is mounted on one side of the visual camera through a fixing mechanism;

the fixed establishment includes concave type mount, the fixed rolling bearing that inlays in top of concave type mount, rolling bearing's inner circle is fixed to be pegged graft there is the threaded rod, mounting bracket and fixedly connected with hand wheel are run through at the top of threaded rod, the equal fixed mounting in both sides of concave type mount has electronic hydraulic stem, the one end of electronic hydraulic stem piston rod runs through concave type mount fixedly connected with L type grip block, and the fixed surface of L type grip block bonds and has the rubber pad, and is two sets of L type grip block is corresponding the setting, grabbing device body demountable installation is between two sets of L type grip blocks.

Preferably, the concave fixing frame is located on two sides of the rotating bearing and is fixedly connected with a limiting rod, one end of the limiting rod penetrates through the top of the mounting frame and is located above the mounting frame, and the outer wall of the limiting rod is connected with the mounting frame in a sliding mode.

Preferably, the top of mounting bracket is seted up with the screw thread through-hole of threaded rod outer wall screw thread looks adaptation, the bottom fixed connection of screw thread through-hole and hand wheel is passed to the one end of threaded rod.

Preferably, the bottom of base has driving motor through support fixed mounting, the pot head of driving motor output shaft is equipped with first belt pulley, and driving motor sets up to step-by-step driving motor.

Preferably, the inside of base is rotated and is installed two sets of pivots, the conveyer belt cover is located two sets ofly on the outer wall of pivot, and wherein the fixed cover of lateral wall that the one end of a set of pivot runs through the base is equipped with the second belt pulley, first belt pulley passes through belt drive with the second belt pulley and is connected.

Preferably, the upper end of base is the symmetry and is provided with two sets of infrared correlation count sensor, and is two sets of infrared correlation count sensor is located the both sides of conveyer belt respectively.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a two sets of electronic hydraulic stem piston rods stretch out and draw back in the fixed establishment, drive its L type grip block of connecting each other respectively, make two sets of L type grip block one side adhesive rubber pad laminating grabbing device body, clamp tightly the fixed to the both sides of grabbing device body, the diaphragm of L type grip block supports the side bottom machine of grabbing device body, make the grabbing device body can be installed between two sets of L type grip blocks steadily, the grabbing device body is unstable when avoiding grabbing the material spare by the grabbing device body;

2. through the rotation of the hand wheel in the fixing mechanism, the threaded rod drives the concave fixing frame to ascend and descend in the mounting frame under the matching of the two groups of limiting rods and the rotating bearing, so that the grabbing height of the grabbing device body for clamping and fixing the inside of the concave fixing frame is adjusted, and the grabbing of materials with different heights is facilitated.

Drawings

FIG. 1 is a schematic sectional view of the present invention;

FIG. 2 is an enlarged schematic view of the structure of FIG. 1;

fig. 3 is a schematic top view of the present invention.

In the figure: 1. a base; 2. a conveyor belt; 3. a drive motor; 4. a mounting frame; 5. a vision camera; 6. A gripping device body; 7. a concave fixing frame; 8. a rotating bearing; 9. a threaded rod; 10. a threaded through hole; 11. a hand wheel; 12. an electro-hydraulic lever; 13. an L-shaped clamping plate; 14. a rubber pad; 15. a limiting rod; 16. Infrared correlation count sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution:

a grabbing device based on 3D machine vision comprises a base 1, a conveying belt 2 is arranged inside the base 1 through a rotating shaft, the conveying belt 2 is rotatably connected with the base 1, a driving motor 3 is fixedly installed at the bottom of the base 1 through a support, a first belt pulley is sleeved on one end of an output shaft of the driving motor 3, the driving motor 3 is set to be a stepping driving motor, two groups of rotating shafts are rotatably installed inside the base 1, the conveying belt 2 is sleeved on the outer walls of the two groups of rotating shafts, a second belt pulley is fixedly sleeved on one end of one group of rotating shafts, which penetrates through the side wall of the base 1, the first belt pulley is connected with the second belt pulley through belt transmission, and the conveying belt 2 is conveniently driven to carry out stepping conveying through the rotation of the output shaft of the driving motor 3;

the robot comprises a base 1, a mounting frame 4, a robot body, a gripping device body 6 and a control system, wherein the mounting frame 4 is fixedly mounted at the upper end of the base 1, the robot body is arranged at the inner top of the mounting frame 4 and comprises a visual camera 5 and the gripping device body 6, the visual camera 5 is fixedly mounted at the inner top of the mounting frame 4, and the gripping device body 6 is mounted on one side of the visual camera 5 through a fixing mechanism;

fixing mechanism includes concave type mount 7, the fixed rolling bearing 8 that inlays in top of concave type mount 7, rolling bearing 8's inner circle is fixed to be pegged graft there is threaded rod 9, mounting bracket 4 and fixedly connected with hand wheel 11 are run through at the top of threaded rod 9, the screw thread through-hole 10 with the outer wall screw thread looks adaptation of threaded rod 9 is seted up at the top of mounting bracket 4, the bottom fixed connection of screw thread through-hole 10 and hand wheel 11 is passed to the one end of threaded rod 9, the equal fixedly connected with gag lever post 15 in both sides that concave type mount 7 is located rolling bearing 8, the top that the one end of gag lever post 15 runs through mounting bracket 4 is located the top of mounting bracket 4, and the outer wall of gag lever post 15 and mounting bracket 4 sliding connection, be convenient for rotate through hand wheel 11, threaded rod 9 is under two sets of gag lever post 15 and rolling bearing 8's cooperation, drive concave type mount 7 oscilaltion in mounting bracket 4, and then adjust the height that snatchs to the fixed grabbing device body 6 of the inside centre gripping of concave type mount 7, be convenient for snatching to the material of co-altitude.

Electric hydraulic rods 12 are fixedly mounted on two sides of a concave fixing frame 7, one ends of piston rods of the electric hydraulic rods 12 penetrate through the concave fixing frame 7 and are fixedly connected with L-shaped clamping plates 13, rubber pads 14 are fixedly bonded on the surfaces of the L-shaped clamping plates 13, the two groups of L-shaped clamping plates 13 are arranged correspondingly, a grabbing device body 6 is detachably mounted between the two groups of L-shaped clamping plates 13, the two groups of L-shaped clamping plates 13 are conveniently stretched and contracted through the piston rods of the two groups of electric hydraulic rods 12, the L-shaped clamping plates 13 connected with the two groups of L-shaped clamping plates are respectively driven to be close to each other, the rubber pads 14 bonded on one sides of the two groups of L-shaped clamping plates 13 are attached to the grabbing device body 6, two sides of the grabbing device body 6 are clamped and fixed, transverse plates of the L-shaped clamping plates 13 support side bottom machines of the grabbing device body 6, the grabbing device body 6 can be stably mounted between the two groups of L-shaped clamping plates 13, and the grabbing device body 6 is prevented from being unstable when the grabbing pieces;

the upper end of base 1 is that the symmetry is provided with two sets of infrared correlation count sensor 16, and two sets of infrared correlation count sensor 16 are located the both sides of conveyer belt 2 respectively, are convenient for carry the material spare through infrared correlation count sensor 16 on to conveyer belt 2 and count the statistics.

The utility model discloses when using, through the flexible 12 piston rods of two sets of electronic hydraulic stem in the fixed establishment, drive its L type grip block 13 of connecting each other respectively, make two sets of L type grip block 13 one side adhesive rubber pad 14 laminate grabbing device body 6, clamp tightly fixedly to the both sides of grabbing device body 6, the diaphragm of L type grip block 13 supports the side bottom machine of grabbing device body 6, make grabbing device body 6 can be installed between two sets of L type grip block 13 steadily, grabbing device body 6 is unstable when avoiding grabbing the material piece by grabbing device body 6;

through the rotation of hand wheel 11 among the fixed establishment, threaded rod 9 drives concave type mount 7 oscilaltion in mounting bracket 4 under two sets of gag lever post 15 and rolling bearing 8's cooperation, and then to the height of snatching of the fixed grabbing device body 6 of the inside centre gripping of concave type mount 7 adjust, is convenient for snatch not co-altitude material.

The same reference numbers in different drawings identify the same or similar elements; it should be further understood that terms such as "first," "second," "third," "upper," "lower," "front," "rear," "inner," "outer," "end," "portion," "section," "width," "thickness," "zone," and the like are used herein only for convenience in reference to the figures and to merely aid in describing the invention, and are not intended to limit the invention.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A grabbing device based on 3D machine vision, includes base (1), its characterized in that: the robot comprises a base (1), a conveying belt (2) is arranged in the base (1) through a rotating shaft, the conveying belt (2) is rotatably connected with the base (1), a mounting frame (4) is fixedly mounted at the upper end of the base (1), a robot body is arranged at the inner top of the mounting frame (4), the robot body comprises a visual camera (5) and a grabbing device body (6), the visual camera (5) is fixedly mounted at the inner top of the mounting frame (4), and the grabbing device body (6) is mounted on one side of the visual camera (5) through a fixing mechanism;

the fixing mechanism comprises a concave fixing frame (7), a rotating bearing (8) is fixedly embedded at the top of the concave fixing frame (7), a threaded rod (9) is fixedly inserted into an inner ring of the rotating bearing (8), the top of the threaded rod (9) penetrates through the mounting frame (4) and the hand wheel (11), electric hydraulic rods (12) are fixedly mounted on two sides of the concave fixing frame (7), one end of each piston rod of each electric hydraulic rod (12) penetrates through the corresponding L-shaped clamping plate (13) fixedly connected with the concave fixing frame (7), a rubber pad (14) is bonded on the surface of each L-shaped clamping plate (13), and the L-shaped clamping plates (13) are correspondingly arranged and the grabbing device body (6) is detachably mounted between the two sets of L-shaped clamping plates (13).

2. The 3D machine vision based gripping device of claim 1, wherein: the utility model discloses a mounting bracket, including concave type mount (7) and mounting bracket (4), the equal fixedly connected with gag lever post (15) in both sides that concave type mount (7) are located rolling bearing (8), the top that mounting bracket (4) was run through to the one end of gag lever post (15) is located the top of mounting bracket (4), and the outer wall and mounting bracket (4) sliding connection of gag lever post (15).

3. The 3D machine vision-based grasping apparatus according to claim 1, characterized in that: the top of the mounting rack (4) is provided with a threaded through hole (10) matched with the thread on the outer wall of the threaded rod (9), and one end of the threaded rod (9) penetrates through the threaded through hole (10) and is fixedly connected with the bottom of the hand wheel (11).

4. The 3D machine vision-based grasping apparatus according to claim 1, characterized in that: the bottom of base (1) has driving motor (3) through support fixed mounting, the pot head of driving motor (3) output shaft is equipped with first belt pulley, and driving motor (3) set up to step-by-step driving motor.

5. The 3D machine vision based gripping device of claim 4, wherein: the inside of base (1) is rotated and is installed two sets of pivots, conveyer belt (2) cover is located two sets ofly on the outer wall of pivot, and wherein the fixed cover of lateral wall that the one end of a set of pivot runs through base (1) is equipped with the second belt pulley, first belt pulley passes through belt transmission with the second belt pulley and is connected.

6. The 3D machine vision-based grasping apparatus according to claim 1, characterized in that: the upper end of base (1) is the symmetry and is provided with two sets of infrared correlation count sensor (17), and is two sets of infrared correlation count sensor (17) are located the both sides of conveyer belt (2) respectively.